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Baumer GXP5W 매뉴얼

3.4. CANopen communication

3.4.1. Communication profile

The communication between the network nodes and the master (PC/controller) is carried out via object
directories and objects. The objects are addressed via a 16-bit index. The CANopen communication profile
DS 301 standardizes the various communication objects. Accordingly, they are divided into several groups:
• Process data objects (PDO) for the real-time transmission of process data
• Service data objects (SDO) for the write and read access to the object directory
• Objects for the synchronization and error display of CAN nodes:
SYNC object (synchronization object) for the synchronization of network nodes
EMCY object (emergency object) for the error display of a device or its periphery
• Network management (NMT) for the initialization and network control
• Layer setting services (LSS) for the configuration by means of a serial number, revision number etc. within
an
existing network

3.4.2. CANopen message structure

The first part of a message is the COB-ID (identifier).
Structure of the 11-bit COB-ID:
Function Code
4-bit Function Code
The function code provides information on the type of message and the priority
The lower the COB-ID, the higher the priority of the message.
Broadcast messages:
Function Code
NMT
SYNC
Peer to peer messages:
Function Code
Emergency
1)
PDO1 (tx)
1)
SDO (tx)
1)
SDO (rx)
Heartbeat
1)
LSS (tx)
1)
LSS (rx)
The node ID can be freely selected via the CANopen bus between 1 and 127 (if rotary switch = 0). The
encoders are shipped with a node ID = 1.
A change is made with the service data object 2101h or via LSS.
A CAN telegram consists of the COB-ID and up to 8 bytes of data:
COB-ID DLC
Byte 1
Xxx
x
xx
The exact telegrams will be listed in detail later.
Manual_GXP5_417_Lift_EN.doc
04.05.11
Node-ID
7-bit Node-ID
COB-ID
0
80h
COB-ID
80h + Node-ID
17Bh+ Lift number * 10 + PosUnit
580h + Node-ID
600h + Node-ID
700h + Node-ID
7E4h
7E5h
Byte 2
Byte 3
xx
xx
1): (tx) and (rx) from the
standpoint of the encoder
Byte 4
Byte 5
Byte 6
xx
xx
xx
7/41
Byte 7
Byte 8
xx
xx
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany